MPU-9150 データシートの表示（PDF） - Unspecified
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MPU-9150 Datasheet PDF : 50 Pages
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MPU-9150 Product Specification
Document Number: PS-MPU-9150A-00
Revision: 4.3
Release Date: 9/18/2013
7.12 Auxiliary I2C Serial Interface
The MPU-9150 has an auxiliary I2C bus for communicating to off-chip sensors. This bus has two operating
modes:
I2C Master Mode: The MPU-9150 acts as a master to any external sensors connected to the
auxiliary I2C bus
Pass-Through Mode: The MPU-9150 directly connects the primary and auxiliary I2C buses together,
allowing the system processor to directly communicate with any external sensors.
Auxiliary I2C Bus Modes of Operation:
I2C Master Mode: Allows the MPU-9150 to directly access the data registers of external digital
sensors, such as a pressure sensor. In this mode, the MPU-9150 directly obtains data from auxiliary
sensors, allowing the on-chip DMP to generate sensor fusion data without intervention from the
system applications processor.
For example, In I2C Master mode, the MPU-9150 can be configured to perform burst reads, returning
the following data from a triple-Axis external sensor:
X-Axis data (2 bytes)
Y-Axis data (2 bytes)
Z-Axis data (2 bytes)
The I2C Master can be configured to read up to 24 bytes from up to 3 auxiliary sensors. A fourth
sensor can be configured to work single byte read/write mode.
Pass-Through Mode: Allows an external system processor to act as master and directly
communicate to the external sensors connected to the auxiliary I2C bus pins (ES_DA and ESCL). In
this mode, the auxiliary I2C bus control logic (3rd-party sensor interface block) of the MPU-9150 is
disabled, and the auxiliary I2C pins ES_DA and ES_CL (Pins 6 and 7) are connected to the main I2C
bus (Pins 23 and 24) through analog switches.
Pass-Through Mode is useful for configuring the external sensor, or for keeping the MPU-9150 in a
low-power mode when only the external sensors are used. In Pass-Through Mode the system
processor can still access MPU-9150 data through the I2C interface.
Auxiliary I2C Bus IO Logic Level
The logic level of the auxiliary I2C bus is VDD.
For further information regarding the MPU-9150’s logic level, please refer to Section 10.2.
7.13 Self-Test
Please refer to the MPU-9150 self-test applications note and MPU-9150 register map for more details on
self-test.
Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for each
measurement axis can be activated by controlling the bits of the Gyro and Accel control registers.
When self-test is activated, the electronics cause the sensors to be actuated and produce an output signal.
The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
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